25 int abd360_rampStepTemp, speedMaxTemp,
27 abd360_rampStepEnc, abd360_speedLimitEnc;
29 if(!abd360_initialized) drive_init();
36 if(abs(distRight) > abs(distLeft))
41 ratio = 1000 * abs(distLeft) / abs(distRight);
43 abd360_rampStepTemp = abd360_rampStepEnc * ratio / 1000;
44 speedMaxTemp = abd360_speedLimitEnc * ratio / 1000;
49 slowerSide = AB360_LEFT;
51 else if(abs(distLeft) > abs(distRight))
56 ratio = 1000 * abs(distRight) / abs(distLeft);
58 abd360_rampStepTemp = abd360_rampStepEnc * ratio / 1000;
59 speedMaxTemp = abd360_speedLimitEnc * ratio / 1000;
64 slowerSide = AB360_RIGHT;
68 slowerSide = AB360_NEITHER;
74 if(abd360_gotoMode == ABD360_GOTO_BLOCK)